TW201544399A - Multiple power unmanned aerial vehicle - Google Patents
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
Description
本發明是有關於一種無人飛機(Unmanned Aerial Vehicle，UAV)，且特別是有關於一種多電源無人飛機。 The present invention relates to an Unmanned Aerial Vehicle (UAV), and more particularly to a multi-power unmanned aircraft.
隨著科技的發展，無人飛機的應用已愈趨廣泛。因應於研發單位的不同，所設計出來的UAV的類型及用途亦將有所不同。舉例而言，由軍事單位設計的UAV一般為具有較大體積的平翼式UAV，其通常以汽油作為燃料來進行長時間及長距離的軍事飛行任務。另一方面，由民間或是學校單位設計的UAV一般為具有較小體積的多軸式UAV，其通常以鋰電池作為電源來進行例如空拍等短時間及短距離的飛行。 With the development of technology, the application of unmanned aircraft has become more and more extensive. The type and use of the designed UAV will vary depending on the R&D unit. For example, UAVs designed by military units are typically flat-wing UAVs with larger volumes that typically use gasoline as fuel for long-term and long-range military missions. On the other hand, a UAV designed by a private or school unit is generally a multi-axis UAV having a small volume, which usually uses a lithium battery as a power source to perform short-time and short-distance flights such as aerial photography.
由於軍用UAV採用汽油作為動力來源，因此並不需考量其續航力的問題。然而，以鋰電池作為電源的UAV，其續航力長短反而是實際使用上的瓶頸。如前所述，目前的UAV大多用於進行例如空拍等短時間及短距離的飛行任務，因此，當UAV的電源在飛行一段時間(約15分鐘)而接近耗盡時，使用者僅需將UAV喚回並對其充電或更換電池即可。 Since military UAVs use gasoline as a source of power, there is no need to consider the issue of their endurance. However, the UAV with lithium battery as the power source has a long battery life instead of a bottleneck in actual use. As mentioned above, most of the current UAVs are used for short- and short-distance missions such as aerial photography. Therefore, when the power of the UAV is flying for a period of time (about 15 minutes) and is nearly exhausted, the user only needs to Call back and charge the UAV or replace the battery.
然而，當UAV被應用於救災及探勘時，無論是平翼式UAV或多軸式UAV皆有其不適用的理由。以平翼式UAV為例，由於其體積較大，因而可能較不適於以低空飛行的方式仔細探勘災後的環境。另一方面，由於多軸式UAV上存在續航力不足的問題，因此需頻繁地進行充電，進而降低救災及探勘行動的效率。進一步而言，多軸式UAV甚至可能因電源不足而無法返回可充電處，進而滯留於災區而損耗救災資源。 However, when UAVs are used for disaster relief and exploration, both flat-wing UAVs and multi-axis UAVs have their reasons for not being applicable. Taking the flat-wing UAV as an example, due to its large size, it may be less suitable for carefully exploring the post-disaster environment in a low-flying manner. On the other hand, due to the problem of insufficient endurance on the multi-axis UAV, it is necessary to frequently charge, thereby reducing the efficiency of disaster relief and exploration operations. Further, the multi-axis UAV may not be able to return to the chargeable location due to insufficient power supply, and thus stay in the disaster area and consume disaster relief resources.
因此，若要將多軸式UAV應用於救災及探勘的話，其航行時間的控制與掌握則是完成任務的關鍵，也是實際運用面或量產UAV的主要問題。 Therefore, if multi-axis UAV is to be applied to disaster relief and exploration, the control and mastery of its navigation time is the key to accomplishing the task, and it is also the main problem of practical application or mass production of UAV.
有鑑於此，本發明提出一種多電源無人飛機，其可依據當下的天氣以及各種電源的電力情形適應性地切換所採用的電力來源，進而有效地延長續航力。 In view of this, the present invention proposes a multi-power unmanned aircraft that can adaptively switch the power source used according to the current weather and the power conditions of various power sources, thereby effectively extending the endurance.
本發明提供一種多電源無人飛機，包括太陽能發電模組、電解單元、燃料電池、充電電池以及電力分配單元。太陽能發電模組提供第一電力。電解單元連接太陽能發電模組，基於第一電力進行電解程序以產生氫氣。燃料電池基於氫氣提供第二電力。充電電池連接於太陽能發電模組以及燃料電池，基於第一電力及第二電力的至少其中之一充電，並提供第三電力。電力分配單元連接於太陽能發電模組、充電電池以及燃料電池，適應性地 採用第一電力、第二電力以及第三電力的至少其中之一驅動多電源無人飛機。 The invention provides a multi-power unmanned aircraft, comprising a solar power generation module, an electrolysis unit, a fuel cell, a rechargeable battery and a power distribution unit. The solar power module provides the first power. The electrolysis unit is connected to the solar power generation module, and an electrolysis process is performed based on the first electric power to generate hydrogen gas. The fuel cell provides a second power based on hydrogen. The rechargeable battery is connected to the solar power generation module and the fuel cell, and is charged based on at least one of the first power and the second power, and provides the third power. The power distribution unit is connected to the solar power generation module, the rechargeable battery, and the fuel battery, and is adaptively The multi-power unmanned aircraft is driven using at least one of the first power, the second power, and the third power.
在本發明之一實施例中，太陽能發電模組包括至少一太陽能板，環設於多電源無人飛機的主體。各所述太陽能板具有吸光面以及背光面，背光面與主體間的夾角為銳角。 In an embodiment of the invention, the solar power generation module includes at least one solar panel disposed on the main body of the multi-power unmanned aircraft. Each of the solar panels has a light absorbing surface and a backlight surface, and an angle between the backlight surface and the main body is an acute angle.
在本發明之一實施例中，多電源無人飛機更包括導水邊條以及集水器。導水邊條環設於至少一太陽能板，配置有導水孔。集水器收集來自導水孔的水。 In an embodiment of the invention, the multi-power unmanned aircraft further includes a water guide strip and a water collector. The water guiding strip is disposed on at least one solar panel and is provided with a water guiding hole. The water collector collects water from the water guiding hole.
在本發明之一實施例中，多電源無人飛機更包括一集氫罐。電解單元對集水器中收集的水進行電解程序以產生氫氣，並儲存氫氣於集氫罐中。 In an embodiment of the invention, the multi-power unmanned aerial vehicle further includes a collecting tank. The electrolysis unit performs an electrolysis procedure on the water collected in the sump to generate hydrogen, and stores the hydrogen in the hydrogen collection tank.
在本發明之一實施例中，多電源無人飛機更包括氧氣量感測器、太陽功率感測器、水量感測器、多個電量感測器以及氫氣量感測器。氧氣量感測器偵測週遭環境的含氧量。太陽功率感測器偵測陽光強度。水量感測器偵測集水器中的水量。多個電量感測器偵測第一電力、第二電力以及第三電力的多個電量。氫氣量感測器偵測集氫罐中的氫氣量。 In an embodiment of the invention, the multi-power unmanned aerial vehicle further includes an oxygen quantity sensor, a solar power sensor, a water quantity sensor, a plurality of power sensors, and a hydrogen amount sensor. The oxygen sensor detects the oxygen content of the surrounding environment. The solar power sensor detects the intensity of the sun. The water sensor detects the amount of water in the water collector. The plurality of power sensors detect the plurality of powers of the first power, the second power, and the third power. The hydrogen amount sensor detects the amount of hydrogen in the hydrogen collecting tank.
在本發明之一實施例中，電力分配單元經配置以：基於含氧量、陽光強度以及水量判斷當下天氣；基於所述多個電量及當下天氣產生多個用電決策結果，並從所述多個用電決策結果中選出一最佳用電決策結果，其中最佳用電決策結果使多電源無人飛機具有一最低功耗；基於最佳用電決策結果適應性地採用第一 電力、第二電力以及第三電力的至少其中之一驅動多電源無人飛機。 In an embodiment of the present invention, the power distribution unit is configured to: determine the current weather based on the oxygen content, the sunlight intensity, and the amount of water; generate a plurality of power decision results based on the plurality of power levels and the current weather, and from the One of the plurality of power decision results selects an optimal power decision result, wherein the best power decision result makes the multi-power unmanned aircraft have a minimum power consumption; adaptively adopts the first based on the optimal power decision result At least one of the electric power, the second electric power, and the third electric power drives the multi-power unmanned aircraft.
基於上述，除了既有的充電電池所提供的電力之外，本發明實施例提出的多電源UAV可更基於太陽、雨水以及空氣自行產生電力，或是製造可用於產生電力的燃料(例如氫氣)，進而建構出一個能夠有效地提升多電源UAV續航力的獨立循環能源系統。並且，即便剩餘的電源不足以讓多電源無人飛機返回可充電處，多電源無人飛機亦可利用再生能源獨立地恢復電力，進而完成任務。 Based on the above, in addition to the power provided by the existing rechargeable battery, the multi-power UAV proposed by the embodiment of the present invention can generate electricity by itself based on the sun, rain water and air, or manufacture a fuel (such as hydrogen) that can be used to generate electric power. Then, an independent circulating energy system capable of effectively improving the endurance of multi-power UAVs is constructed. And, even if the remaining power supply is not enough for the multi-power unmanned aircraft to return to the chargeable location, the multi-power unmanned aircraft can use the renewable energy to independently restore power to complete the task.
為讓本發明的上述特徵和優點能更明顯易懂，下文特舉實施例，並配合所附圖式作詳細說明如下。 The above described features and advantages of the invention will be apparent from the following description.
100‧‧‧多電源UAV 100‧‧‧Multiple power supply UAV
102‧‧‧主體 102‧‧‧ Subject
110‧‧‧太陽能發電模組 110‧‧‧Solar power module
120‧‧‧電解單元 120‧‧‧Electrolytic unit
130‧‧‧燃料電池 130‧‧‧ fuel cell
140‧‧‧充電電池 140‧‧‧Rechargeable battery
150、158‧‧‧電力分配單元 150, 158‧‧‧Power distribution unit
151‧‧‧集水器 151‧‧ ‧ water collector
152‧‧‧燃料電池 152‧‧‧ fuel cell
153‧‧‧太陽能板 153‧‧‧ solar panels
153_1‧‧‧吸光面 153_1‧‧‧ absorbing surface
153_2‧‧‧背光面 153_2‧‧‧ Backlit surface
154‧‧‧導水邊條 154‧‧‧Water guide strip
155‧‧‧導水孔 155‧‧‧Water guide hole
156‧‧‧充電電池 156‧‧‧Rechargeable battery
157‧‧‧集氫罐 157‧‧‧ hydrogen tank
159‧‧‧導水管 159‧‧‧Water conduit
160‧‧‧全球衛星定位系統模組 160‧‧‧Global Positioning System Module
162‧‧‧搖控訊號接收器 162‧‧‧Remote signal receiver
164‧‧‧飛行控制器 164‧‧‧ Flight controller
166‧‧‧馬達變壓控制器 166‧‧‧Motor variable pressure controller
168‧‧‧配電盤 168‧‧‧Distribution panel
170‧‧‧變壓器 170‧‧‧Transformer
172‧‧‧螺旋槳 172‧‧‧propeller
174‧‧‧螺旋槳馬達 174‧‧‧propeller motor
176‧‧‧機身機構 176‧‧‧Airframe body
178‧‧‧太陽功率感測器 178‧‧‧Solar power sensor
180‧‧‧氧氣量感測器 180‧‧‧Oxygen sensor
182‧‧‧水量感測器 182‧‧‧Water sensor
184‧‧‧氫氣量感測器 184‧‧‧Hydrogen Sensor
186~188‧‧‧電量感測器 186~188‧‧‧Power Sensor
AN‧‧‧夾角 AN‧‧‧ angle
圖1是依據本發明之一實施例繪示的多電源UAV功能方塊圖。 1 is a block diagram of a multi-power UAV function diagram according to an embodiment of the invention.
圖2A及圖2B分別是依據圖1實施例繪示的多電源UAV的上視圖以及側視圖。 2A and 2B are a top view and a side view, respectively, of a multi-power supply UAV according to the embodiment of FIG. 1.
圖1是依據本發明之一實施例繪示的多電源UAV功能方塊圖。在本實施例中，多電源UAV 100例如是多軸式UAV，但本 發明的可實施方式不限於此。無人飛機100可包括太陽能發電模組110、電解單元120、燃料電池130、充電電池140以及電力分配單元150。 1 is a block diagram of a multi-power UAV function diagram according to an embodiment of the invention. In this embodiment, the multi-power UAV 100 is, for example, a multi-axis UAV, but The embodiments of the invention are not limited thereto. The unmanned aircraft 100 may include a solar power generation module 110, an electrolysis unit 120, a fuel cell 130, a rechargeable battery 140, and a power distribution unit 150.
在一實施例中，太陽能發電模組110可提供第一電力。所述第一電力例如是太陽能發電模組110所包括的太陽能板在受太陽光照射之後所產生的電力，或是儲存於太陽能電池中的電力。電解單元120連接太陽能發電模組110，並可基於所述第一電力進行一電解程序以產生氫氣。在一實施例中，電解單元120可基於所述第一電力電解無人飛機100收集到的雨水以產生所述氫氣，但本發明的可實施方式不限於此。 In an embodiment, the solar power generation module 110 can provide the first power. The first electric power is, for example, electric power generated by a solar panel included in the solar power generation module 110 after being irradiated with sunlight, or electric power stored in the solar battery. The electrolysis unit 120 is connected to the solar power generation module 110, and an electrolysis process can be performed based on the first electric power to generate hydrogen gas. In an embodiment, the electrolysis unit 120 may generate rainwater based on rainwater collected by the first electric electrolysis unmanned aircraft 100, but the embodiments of the present invention are not limited thereto.
燃料電池130可基於電解單元120所產生的氫氣而提供第二電力。具體而言，燃料電池130可採用氫氣以及空氣中的氧氣作為燃料進行氧化還原反應，以將燃料中的化學能轉換為電能，進而提供所述第二電力，但本發明的可實施方式不限於此。充電電池140連接太陽能發電模組110以及燃料電池130。在一實施例中，充電電池140例如是鋰電池，其可基於所述第一電力及所述第二電力的至少其中之一充電，並提供第三電力。 The fuel cell 130 may provide a second power based on hydrogen generated by the electrolytic unit 120. Specifically, the fuel cell 130 may perform a redox reaction using hydrogen gas and oxygen in the air as a fuel to convert chemical energy in the fuel into electric energy to provide the second electric power, but the embodiment of the present invention is not limited thereto. this. The rechargeable battery 140 connects the solar power generation module 110 and the fuel cell 130. In an embodiment, the rechargeable battery 140 is, for example, a lithium battery that can be charged based on at least one of the first power and the second power and provides a third power.
電力分配單元150連接太陽能發電模組110、燃料電池130以及充電電池140。電力分配單元150例如是一般用途處理器、特殊用途處理器、傳統的處理器、數位訊號處理器、多個微處理器(microprocessor)、一個或多個結合數位訊號處理器核心的微處理器、控制器、微控制器、特殊應用集成電路(Application Specific Integrated Circuit，ASIC)、場可程式閘陣列電路(Field Programmable Gate Array，FPGA)、任何其他種類的積體電路、狀態機、基於進階精簡指令集機器(Advanced RISC Machine，ARM)的處理器以及類似品。 The power distribution unit 150 connects the solar power generation module 110, the fuel cell 130, and the rechargeable battery 140. The power distribution unit 150 is, for example, a general purpose processor, a special purpose processor, a conventional processor, a digital signal processor, a plurality of microprocessors, one or more microprocessors combined with a digital signal processor core, Controller, microcontroller, special application integrated circuit (Application Specific Integrated Circuit (ASIC), Field Programmable Gate Array (FPGA), any other kind of integrated circuit, state machine, Advanced RISC Machine (ARM) based processor And similar products.
在一實施例中，電力分配單元150可適應性地採用第一電力、第二電力以及第三電力的至少其中之一驅動多電源UAV 100。亦即，電力分配單元150可適應性地基於太陽能發電模組110、燃料電池130以及充電電池140所提供的電力來驅動多電源UAV 100。 In an embodiment, the power distribution unit 150 can adaptively drive the multi-power UAV 100 with at least one of the first power, the second power, and the third power. That is, the power distribution unit 150 can adaptively drive the multi-power UAV 100 based on the power provided by the solar power generation module 110, the fuel cell 130, and the rechargeable battery 140.
有別於傳統上主要以充電電池(例如鋰電池)作為電源的多軸式UAV，本發明提出的多電源UAV 100可更基於太陽、雨水以及空氣自行產生電力，或是製造可用於產生電力的燃料(例如氫氣)，進而建構出一個能夠有效地提升多電源UAV 100續航力的獨立循環能源系統。如此一來，相較於傳統的多軸式UAV，本發明實施例提出的多電源UAV 100將更適合用於進行救災和探勘等需要長時間進行低空飛行及搜索的飛行任務。再者，即便多電源UAV 100因電源不足而無法返回可充電處，多電源UAV 100仍可在降落於災區之後，自行基於太陽、雨水以及空氣產生電力，並在產生足夠電力之後完成後續的任務。亦即，多電源UAV 100可在電力不足時長時間停止運作，並且在停止運作的期間自行產生電力。 Different from the multi-axis UAV, which is traditionally mainly powered by a rechargeable battery (such as a lithium battery), the multi-power UAV 100 proposed by the present invention can generate electricity by itself based on the sun, rain water and air, or can be used to generate electricity. Fuel (such as hydrogen), in turn, constructs an independent cycle energy system that can effectively enhance the endurance of multi-power UAV 100. As a result, compared with the conventional multi-axis UAV, the multi-power UAV 100 proposed by the embodiment of the present invention is more suitable for performing missions such as disaster relief and exploration that require long-term low-altitude flight and search. Furthermore, even if the multi-supply UAV 100 cannot return to the chargeable location due to insufficient power supply, the multi-supply UAV 100 can generate power based on the sun, rain and air after landing in the disaster area, and complete the subsequent tasks after generating sufficient power. . That is, the multi-power UAV 100 can be operated for a long time when the power is insufficient, and generates power by itself during the period in which the operation is stopped.
從另一觀點而言，由於現有的再生能源或獨立循環能源 皆運用在大型公共發電設備以及汽機車上，其使用目的為生活及休閒所需，因而不會為了保持或儲存電力接受長時間停止運作。再者，現有的再生能源或獨立循環能源因為所需功率大，故體型也相較龐大，因而無法運用在體積較小的多軸式UAV上。然而，透過適當的設計多電源UAV的機構以及電力分配方式，本發明提出的多電源UAV可有效地整合各種發電機制，進而讓其更適於用來執行救災等需要長時間飛行的任務。以下即詳細介紹多電源UAV的機構以及電力分配方式。 From another point of view, due to existing renewable energy or independent recycling energy They are used in large public power generation equipment and steam locomotives. They are used for living and leisure purposes and therefore do not stop working for a long time in order to maintain or store electricity. Furthermore, the existing renewable energy or independent circulating energy sources are relatively large in size because of the large power required, and thus cannot be applied to a small-sized multi-axis UAV. However, the multi-power UAV proposed by the present invention can effectively integrate various generator systems through appropriate design of a multi-power UAV mechanism and power distribution mode, thereby making it more suitable for performing tasks requiring long-time flight such as disaster relief. The following is a detailed description of the mechanism of the multi-power UAV and the power distribution method.
圖2A及圖2B分別是依據圖1實施例繪示的多電源UAV的上視圖以及側視圖。在本實施例中，多電源UAV 100可包括主體102。在一實施例中，主體102中可包括電力分配單元158、全球衛星定位系統模組160、搖控訊號接收器162、飛行控制器164以及配電盤168，且主體102中可更包括一透明罩，用以罩住其所包括的各個元件。此外，多電源UAV 100亦可包括集水器151、燃料電池152、太陽能板153、導水邊條154、導水孔155、充電電池156、集氫罐157、導水管159、馬達變壓控制器166、變壓器170、螺旋槳172、螺旋槳馬達174以及機身機構176。在一實施例中，電力分配單元158亦可實現為電源控制器，但本發明的可實施方式不限於此。 2A and 2B are a top view and a side view, respectively, of a multi-power supply UAV according to the embodiment of FIG. 1. In the present embodiment, the multi-power UAV 100 can include a body 102. In an embodiment, the main body 102 can include a power distribution unit 158, a global satellite positioning system module 160, a remote control signal receiver 162, a flight controller 164, and a power distribution panel 168, and the main body 102 can further include a transparent cover. Used to cover the various components it contains. In addition, the multi-power UAV 100 may further include a water collector 151, a fuel cell 152, a solar panel 153, a water guiding strip 154, a water guiding hole 155, a rechargeable battery 156, a hydrogen collecting tank 157, a water conduit 159, and a motor pressure controller 166. Transformer 170, propeller 172, propeller motor 174, and fuselage mechanism 176. In an embodiment, the power distribution unit 158 can also be implemented as a power controller, but the embodiments of the present invention are not limited thereto.
如圖2A及圖2B所示，太陽能發電模組110所包括的太陽能板153可環設於主體102。此外，太陽能板153具有吸光面153_1以及背光面153_2，且背光面153_2與主體102之間的夾角 AN為一銳角。導水邊條154可環設於太陽能板153，而導水孔155可配置於導水邊條154上。導水孔155可藉由導水管159連接至集水器151。 As shown in FIG. 2A and FIG. 2B , the solar panel 153 included in the solar power generation module 110 can be disposed on the main body 102 . In addition, the solar panel 153 has a light absorbing surface 153_1 and a backlight surface 153_2, and an angle between the backlight surface 153_2 and the main body 102 AN is an acute angle. The water guiding strip 154 can be disposed on the solar panel 153, and the water guiding hole 155 can be disposed on the water guiding strip 154. The water guiding hole 155 can be connected to the sump 151 by a water conduit 159.
如此一來，當有水(例如雨水)落至太陽能板153上時，這些水即可順著太陽能板153的傾斜度而滑落至導水邊條154，並接著經由導水孔155以及導水管159而被收集至集水器151中。 As a result, when water (for example, rainwater) falls onto the solar panel 153, the water can slide down to the water guiding strip 154 along the inclination of the solar panel 153, and then through the water guiding hole 155 and the water conduit 159. It is collected into the sump 151.
接著，電解單元120即可基於太陽能發電模組110提供的第一電力電解集水器151所收集的水，並將電解水時產生的氫氣儲存於集氫罐157中。如此一來，燃料電池130即可基於集氫罐157中的氫氣以及空氣中的氧氣來產生電能。 Next, the electrolysis unit 120 may be based on the water collected by the first electric-electrolytic sump 151 provided by the solar power generation module 110, and store the hydrogen generated when the water is electrolyzed in the hydrogen-collecting tank 157. In this way, the fuel cell 130 can generate electric energy based on the hydrogen in the hydrogen collecting tank 157 and the oxygen in the air.
在本實施例中，多電源UAV 100可更包括太陽功率感測器178、氧氣量感測器180、水量感測器182、氫氣量感測器184以及電量感測器186~188(繪示於圖1中)。氧氣量感測器180可偵測多電源UAV 100週遭環境的含氧量。太陽功率感測器178可偵測陽光強度。水量感測器182可偵測集水器151中的水量。電量感測器186~188可分別偵測第一電力、第二電力以及第三電力的多個電量。氫氣量感測器184偵測集氫罐157中的氫氣量。 In this embodiment, the multi-power UAV 100 may further include a solar power sensor 178, an oxygen amount sensor 180, a water amount sensor 182, a hydrogen amount sensor 184, and a power sensor 186~188 (shown in the figure). 1)). The oxygen amount sensor 180 can detect the oxygen content of the environment surrounding the multi-power UAV 100. The solar power sensor 178 can detect the intensity of the sunlight. The water amount sensor 182 can detect the amount of water in the sump 151. The power sensors 186-188 can detect a plurality of powers of the first power, the second power, and the third power, respectively. The hydrogen amount sensor 184 detects the amount of hydrogen in the hydrogen collecting tank 157.
基於上述各種感測器個別的感測結果，電力分配單元158可透過適當的演算法對應地找出最適於當下情況的電力配置。 Based on the individual sensing results of the various sensors described above, the power distribution unit 158 can correspondingly find the power configuration that is most suitable for the current situation through an appropriate algorithm.
具體而言，電力分配單元158可基於含氧量、陽光強度以及水量判斷當下天氣。舉例而言，當電力分配單元158判斷陽光強度較高時，電力分配單元158即可判斷當下天氣應為晴天。 另一方面，當電力分配單元158判斷陽光強度較低，但集水器151中的水量沒有上升時，電力分配單元158即可得知當下天氣應為陰天。當電力分配單元158判斷集水器151中的水量出現上升的情形時，電力分配單元158即可判斷當下天氣應為雨天。其餘天氣(例如無光以及下雨的夜晚等)對應的感測結果應可依據上述原則推得，在此不再贅述。 Specifically, the power distribution unit 158 can determine the current weather based on the oxygen content, the sunlight intensity, and the amount of water. For example, when the power distribution unit 158 determines that the sunlight intensity is high, the power distribution unit 158 can determine that the current weather should be sunny. On the other hand, when the power distribution unit 158 determines that the sunlight intensity is low, but the amount of water in the sump 151 does not rise, the power distribution unit 158 can know that the current weather should be cloudy. When the power distribution unit 158 determines that the amount of water in the sump 151 has risen, the power distribution unit 158 can determine that the current weather should be rainy. The corresponding sensing results of the rest of the weather (such as no light and rainy nights, etc.) should be derived according to the above principles, and will not be repeated here.
在其他實施例中，電力分配單元158可基於類神經網路(Neural Network)的概念針對不同的含氧量、陽光強度以及水量以及當下天氣之間的對應關係進行一連串的學習及修正操作。如此一來，當電力分配單元158偵測到新的含氧量、陽光強度以及水量時，電力分配單元158即可精準地判斷當下天氣。 In other embodiments, the power distribution unit 158 can perform a series of learning and correcting operations for different oxygen levels, solar intensity, and amount of water, as well as current weather, based on the concept of a neural network. In this way, when the power distribution unit 158 detects the new oxygen content, the sunlight intensity, and the amount of water, the power distribution unit 158 can accurately determine the current weather.
因應於各種可能的感測結果組合，電力分配單元158對於來自太陽能發電模組110的第一電力、來自燃料電池130的第二電力以及來自充電電池140的第三電力可採取以下數種用電方式的一或多個：(1)將第一電力用於電解水(2)將第一電力用於對充電電池140充電(3)將第一電力用於驅動多電源UAV 100(4)控制充電電池140待命並充電(5)將第三電力用於驅動多電源UAV 100(6)將第二電力用於對充電電池140充電(7)將第二電力用於驅動多電源UAV 100(8)將第一電力及第二電力同時用於對充電電池140充電(9)將第一電力、第二電力以及第三電力用於驅動多電源UAV 100。本領域具通常知識者應可了解，上述用電方式僅用以舉例，並非用以限定本發明的可實施方式。 In response to various possible combinations of sensing results, the power distribution unit 158 may take the following types of power for the first power from the solar power module 110, the second power from the fuel cell 130, and the third power from the rechargeable battery 140. One or more of the modes: (1) using the first power for electrolyzing water (2) using the first power for charging the rechargeable battery 140 (3) using the first power for driving the multi-supply UAV 100 (4) control The rechargeable battery 140 is on standby and charged (5) the third power is used to drive the multi-supply UAV 100 (6) to use the second power to charge the rechargeable battery 140 (7) to use the second power to drive the multi-supply UAV 100 (8) The first power and the second power are simultaneously used to charge the rechargeable battery 140. (9) The first power, the second power, and the third power are used to drive the multi-power UAV 100. It should be understood by those skilled in the art that the above-described modes of use are merely exemplary and are not intended to limit the embodiments of the invention.
接著，電力分配單元158可基於上述多個電量(即，第一電力、第二電力以及第三電力的電量)及所述當下天氣產生多個用電決策結果，並從所述多個用電決策結果中選出最佳用電決策結果。所述用電決策結果例如是上述各個用電方式的組合。所述最佳用電決策結果可使多電源UAV 100具有最低功耗。在一實施例中，所述最佳用電決策結果亦可依據設計者的需求而調整為滿足特定條件(例如讓多電源UAV 100具有最佳充電效率等)的用電決策結果。 Then, the power distribution unit 158 may generate a plurality of power decision results based on the plurality of powers (ie, the powers of the first power, the second power, and the third power) and the current weather, and use the plurality of powers The best power decision results are selected from the decision results. The power decision result is, for example, a combination of the above respective power modes. The best power decision result can make the multi-power UAV 100 have the lowest power consumption. In an embodiment, the optimal power decision result may also be adjusted according to the designer's needs to meet the specific conditions (for example, the multi-power UAV 100 has the best charging efficiency, etc.).
在其他實施例中，在電力分配單元158產生所述多個用電決策結果之後，電力分配單元158可基於例如基因演算法(Genetic Algorithm，GA)的概念來從所述多個用電決策結果中選出最佳用電決策結果，以達到優化用電方式的效果。 In other embodiments, after the power distribution unit 158 generates the plurality of power decision results, the power distribution unit 158 may derive results from the plurality of power decisions based on, for example, a concept of a Genetic Algorithm (GA). The best power decision-making result is selected to achieve the effect of optimizing the power consumption mode.
之後，電力分配單元158可基於最佳用電決策結果適應性地採用第一電力、第二電力以及第三電力的至少其中之一驅動多電源UAV 100。 Thereafter, the power distribution unit 158 can adaptively drive the multi-power UAV 100 using at least one of the first power, the second power, and the third power based on the optimal power decision result.
舉例而言，當電力分配單元158判斷當下天氣為晴天，但氫氣量不足時，電力分配單元158所產生的多個用電決策結果可以是同時採用上述用電方式的(1)+(3)、(1)+(2)或是(1)+(9)等組合。接著，電力分配單元158可從這些組合中挑出最佳用電決策結果。假設電力分配單元158所挑出的最佳用電決策結果為(1)+(3)的用電方式組合，則電力分配單元158可接著執行將第一電力用於電解水以及將第一電力用於驅動多電源UAV 100的操作。 For example, when the power distribution unit 158 determines that the current weather is sunny, but the amount of hydrogen is insufficient, the plurality of power decision results generated by the power distribution unit 158 may be the same (1)+(3). , (1) + (2) or (1) + (9) and other combinations. Next, power distribution unit 158 can pick the best power decision results from these combinations. Assuming that the optimal power decision result picked out by the power distribution unit 158 is a combination of power modes of (1) + (3), the power distribution unit 158 may then perform the use of the first power for electrolyzing water and the first power. Used to drive multiple power supply UAVs 100 operations.
舉另一例而言，當電力分配單元158判斷當下天氣為下雨的夜晚時，電力分配單元158所產生的多個用電決策結果可以是同時採用上述用電方式的(1)+(4)+(5)+(7)、(5)+(7)或是(1)+(7)等組合。接著，電力分配單元158可從這些組合中挑出最佳用電決策結果。假設電力分配單元158所挑出的最佳用電決策結果為(5)+(7)的用電方式組合，則電力分配單元158可接著執行將第三電力用於驅動多電源UAV 100以及將第二電力用於驅動多電源UAV 100的操作。 For another example, when the power distribution unit 158 determines that the current weather is rainy night, the plurality of power decision results generated by the power distribution unit 158 may be the same (1)+(4). +(5)+(7), (5)+(7) or (1)+(7) combinations. Next, power distribution unit 158 can pick the best power decision results from these combinations. Assuming that the optimal power decision result picked up by the power distribution unit 158 is a combination of power modes of (5) + (7), the power distribution unit 158 may then perform the use of the third power for driving the multi-power UAV 100 and The second power is used to drive operation of the multi-power UAV 100.
在其他實施例中，電力分配單元158可基於例如模糊邏輯(Fuzzy Logic)的概念來整合類神經網路的學習結果以及基因演算法的優化結果，進而找出上述的最佳用電決策結果。 In other embodiments, the power distribution unit 158 can integrate the learning results of the neural network based on the concept of Fuzzy Logic and the optimization results of the genetic algorithm to find the optimal power decision result.
綜上所述，本發明實施例提出的多電源UAV可基於太陽、雨水以及空氣自行產生電力，或是製造可用於產生電力的燃料(例如氫氣)，進而建構出一個能夠有效地提升多電源UAV續航力的獨立循環能源系統。因此，本發明實施例提出的多電源UAV將更適合用於進行救災和探勘等需要長時間進行低空飛行及搜索的飛行任務。再者，即便多電源UAV因電源不足而無法返回可充電處，多電源UAV仍可在降落之後，自行基於太陽、雨水以及空氣產生電力，並在產生足夠電力之後完成後續的任務。 In summary, the multi-power UAV proposed by the embodiment of the present invention can generate power by itself based on the sun, rain water, and air, or manufacture a fuel (such as hydrogen) that can be used to generate electric power, thereby constructing a multi-power UAV. Independent cycle energy system for endurance. Therefore, the multi-power UAV proposed by the embodiment of the present invention will be more suitable for performing missions such as disaster relief and exploration that require long-time low-altitude flight and search. Furthermore, even if the multi-supply UAV cannot return to the chargeable location due to insufficient power, the multi-supply UAV can generate power based on the sun, rain, and air after landing, and complete subsequent tasks after generating sufficient power.
雖然本發明已以實施例揭露如上，然其並非用以限定本發明，任何所屬技術領域中具有通常知識者，在不脫離本發明的 精神和範圍內，當可作些許的更動與潤飾，故本發明的保護範圍當視後附的申請專利範圍所界定者為準。 Although the present invention has been disclosed in the above embodiments, it is not intended to limit the invention, and any one of ordinary skill in the art without departing from the invention. In the spirit and scope, the scope of protection of the present invention is subject to the definition of the appended patent application.
100‧‧‧多電源UAV 100‧‧‧Multiple power supply UAV
110‧‧‧太陽能發電模組 110‧‧‧Solar power module
120‧‧‧電解單元 120‧‧‧Electrolytic unit
130‧‧‧燃料電池 130‧‧‧ fuel cell
140‧‧‧充電電池 140‧‧‧Rechargeable battery
150‧‧‧電力分配單元 150‧‧‧Power distribution unit
186~188‧‧‧電量感測器 186~188‧‧‧Power Sensor
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| CN107585316A (en) * | 2016-07-06 | 2018-01-16 | 北京晟泽科技有限公司 | A kind of new energy mixed power supply system for High Altitude UAV |
| WO2018094797A1 (en) * | 2016-11-25 | 2018-05-31 | 文锦伟 | Solar quadrotor aircraft |
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| CN103359284A (en) * | 2013-06-29 | 2013-10-23 | 天津大学 | Petrol-electric hybrid four-rotor unmanned aerial vehicle |
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| CN107585316A (en) * | 2016-07-06 | 2018-01-16 | 北京晟泽科技有限公司 | A kind of new energy mixed power supply system for High Altitude UAV |
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